阅读说明：本技术 一种同步带传动的高效传动效率机械臂 (Synchronous belt drive's high-efficient transmission efficiency arm ) 是由 梁林超 杨鹏 赵忠乾 谢孙耘翰 娄宇杰 于 2021-07-28 设计创作，主要内容包括：本发明公开一种同步带传动的高效传动效率机械臂,包括驱动机体,所述驱动机体下方转动连接有固定座,所述驱动机体上方输出端转动连接有多节手臂机械臂,在驱动机体设置有三个驱动件,所述驱动件包括主动部和从动部,所述主动部和所述从动部均具有一个转动自由度,并且分别对应第一转动轴线和第二转动轴线；两个所述驱动件的从动部的第二转动轴线同轴,该第二转动轴线与所述多节手臂机械臂所在的转动轴线同轴,用于驱动多节手臂机械臂的活动；一个所述驱动件的从动部的第二转动轴线与驱动机体自身的转动轴线同轴,用于驱动驱动机体相对所述固定座转动,从而可以实现机械臂高吸、可逆性的生产线生产,大大提高机械臂适应生产线的丰富性。(The invention discloses a synchronous belt-driven mechanical arm with high transmission efficiency, which comprises a driving machine body, wherein a fixed seat is rotationally connected below the driving machine body, a multi-section arm mechanical arm is rotationally connected at an output end above the driving machine body, three driving pieces are arranged on the driving machine body, each driving piece comprises a driving part and a driven part, and the driving part and the driven part are respectively provided with a rotational degree of freedom and respectively correspond to a first rotational axis and a second rotational axis; the second rotating axes of the driven parts of the two driving parts are coaxial, and the second rotating axes are coaxial with the rotating axis of the multi-section arm mechanical arm and are used for driving the multi-section arm mechanical arm to move; the second rotating axis of the driven part of the driving part is coaxial with the rotating axis of the driving machine body and is used for driving the driving machine body to rotate relative to the fixed seat, so that the production line production with high absorption and reversibility of the mechanical arm can be realized, and the richness of the mechanical arm adapting to the production line is greatly improved.)

1. A synchronous belt transmission type mechanical arm with high transmission efficiency comprises a driving machine body, wherein a fixed seat is rotatably connected below the driving machine body, and an output end above the driving machine body is rotatably connected with a multi-section mechanical arm; it is characterized in that the preparation method is characterized in that,

the driving machine body is at least provided with three driving pieces, each driving piece comprises a driving part and a driven part, and the driving part and the driven part respectively have one rotational degree of freedom and respectively correspond to a first rotational axis and a second rotational axis;

the second rotating axes of the driven parts of at least two driving parts are coaxial, and the second rotating axes are coaxial with the rotating axis of the multi-section arm mechanical arm and are used for driving the multi-section arm mechanical arm to move; and the second rotating axis of the driven part of at least one driving part is coaxial with the rotating axis of the driving machine body and is used for driving the driving machine body to rotate relative to the fixed seat.

2. The mechanical arm with high transmission efficiency of the synchronous belt transmission as claimed in claim 1, wherein the first rotation axis and the second rotation axis are parallel to each other, and the shortest distance between the first rotation axis and the second rotation axis is smaller than the maximum length of the driving body.

3. The mechanical arm with high transmission efficiency driven by the synchronous belt as claimed in claim 1, wherein the first rotation axes of the driving parts, which are coaxial with the second rotation axes of the two driven parts, coincide or are parallel, and the first rotation axis and the second rotation axis of the other driving part are perpendicular to the first rotation axis and the second rotation axis of the other two driving parts.

4. The high efficiency mechanical arm with synchronous belt drive as claimed in claim 1, wherein the driving members coaxial with the second rotation axis of the two driven parts respectively comprise a first driving synchronous pulley with the first rotation axis, a second driving synchronous pulley with the first rotation axis, a first servo motor and a second servo motor respectively connected with the first driving synchronous pulley and the second driving synchronous pulley, a first driven synchronous pulley with the second rotation axis and a second driven pulley, and the driving members coaxial with the second rotation axis of the driven parts and the rotation axis of the driving body respectively comprise a third driving synchronous pulley, a third servo motor connected with the third driving synchronous pulley and a second rotation axis; a first synchronous belt is connected between the first driving synchronous pulley and the first driven synchronous pulley, a second synchronous belt is connected between the second driving synchronous pulley and the second driven synchronous pulley, and a third synchronous belt is connected between the third driving synchronous pulley and the third driven synchronous pulley;

the multi-section arm mechanical arm comprises a first arm, a second arm and a claw, the first arm is rotatably connected with the driving machine body, and the first arm, the second arm and the claw are sequentially rotatably connected end to end.

5. The synchronous belt driven high efficiency mechanical arm as claimed in claim 4, wherein the first servo motor and the second servo motor are disposed at both sides of the driving body; the third servo motor is arranged above the bottom plate of the driving machine body.

6. The mechanical arm with high transmission efficiency of the synchronous belt transmission as claimed in claim 4, wherein the first driven synchronous pulley is a part of the first arm and is used for driving or following the first arm to rotate synchronously.

7. The synchronous belt driven mechanical arm with high transmission efficiency as claimed in claim 4, wherein the multi-joint arm mechanical arm further comprises a crank and rocker mechanism, the crank and rocker mechanism comprises a crank rotatably mounted on the same rotation axis as the first arm and a rocker rotatably connected with the crank and the swing driving end of the second arm, and the second driven synchronous pulley is a part of the crank and is used for driving or following the crank to rotate synchronously.

8. The synchronous belt driven efficient mechanical arm as claimed in claim 4, wherein the multi-section mechanical arm further comprises a balance link mechanism, the balance link mechanism comprises a first bearing rocker, a triangular bearing frame and a second bearing rocker, the triangular bearing frame is respectively connected with the first bearing rocker, the second bearing rocker and the joint of the first arm in a rotating manner, the other end of the first bearing rocker is connected with the side surface of the driving machine body in a rotating manner, and the second bearing rocker is connected with the claw hand in a hinged manner.

9. The mechanical arm with high transmission efficiency of the synchronous belt transmission as claimed in claim 4, wherein the third driven synchronous pulley is a part of the fixed seat.

10. The mechanical arm with high transmission efficiency driven by the synchronous belt according to claim 1, wherein the fixed seat is of a truncated cone-shaped cavity structure, a data line is laid inside the fixed seat, an input end DVI data interface is arranged on the side surface of the fixed seat, and the input end DVI data interface is electrically connected with the driving member through a lead;

the control cabinet is characterized by further comprising an external control cabinet, wherein an output end DVI data interface, a power interface and a switch are arranged on the outer side of the control cabinet, the output end DVI data interface is connected with the input end DVI data interface through a data line, the power interface is used for connecting a power line to be electrified, and the switch is used for being switched on and off instantly;

the control cabinet is internally provided with a mainboard and three motor drivers, the mainboard is used for processing, storing and operating data information, and the motor drivers are used for respectively driving the driving pieces.

Technical Field

The invention relates to the technical field of miniature mechanical arms for small-scale operation, in particular to a synchronous belt-driven mechanical arm with high transmission efficiency.

Background

The mechanical arm is an automatic operation device which can simulate certain action functions of a hand and an arm of a person, is used for grabbing and carrying objects or operating tools according to a fixed program, can replace the person to carry out heavy work so as to realize mechanization and automation of production, can be widely applied to an automatic production line, can better save energy and improve efficiency, and meets the development requirements of modern economy.

The existing mechanical arm comprises a fixed seat, a first arm, a second arm and a driving piece, wherein the first arm, the second arm and the driving piece are connected with the fixed seat, the driving piece drives the first arm and the fixed seat to swing and the first arm or the second arm to move, and double speed and double stroke are achieved. In addition, the mechanical arm at the present stage usually has a plurality of rotating joints, the rotation of each joint is realized by a stepping motor or a servo motor, a harmonic speed reducer and a cycloid speed reducer are usually adopted at the tail end of the motor, a gear transmission has reverse arc minutes during reverse motion, errors are easy to generate, the manufacturing is complex, the processing cost is high, and uncertainty such as parameter perturbation, external interference, unmodeled dynamic state and the like exists because the mechanical arm is a complex system. Therefore, uncertainty exists in a modeling model of the mechanical arm, movement tracks of joint spaces of the mechanical arm need to be planned for different tasks, and therefore the tail end pose is formed by cascading, so that flexible dragging teaching modeling cannot be achieved for the mechanical arm with multi-stage speed reduction due to self-locking, modeling corresponding to the adaptive working environment is time-consuming and labor-consuming, the number of types of adaptive production lines is small, multiple mechanical arms need to be purchased, cost is high, and transmission efficiency is low due to friction of multi-stage gears. In addition, due to the fact that motors are arranged in series on the mechanical arm, the swing space of the station of the mechanical arm is limited, workpieces are conveyed from one station to another station, and conveying efficiency is reduced.

Disclosure of Invention

In view of the above, the invention aims to provide a synchronous belt transmission type mechanical arm with high transmission efficiency, which provides a solution for enhancing the adaptability of the mechanical arm to various working scenes, and has high efficiency and low power, so that a production line can efficiently perform various different process arrangements.

In order to solve the technical problems, the invention provides a synchronous belt transmission type mechanical arm with high transmission efficiency, which comprises a driving machine body, wherein a fixed seat is rotationally connected below the driving machine body, and a multi-section arm mechanical arm is rotationally connected at an output end above the driving machine body;

the driving machine body is at least provided with three driving pieces, each driving piece comprises a driving part and a driven part, and the driving part and the driven part respectively have one rotational degree of freedom and respectively correspond to a first rotational axis and a second rotational axis;

the second rotating axes of the driven parts of at least two driving parts are coaxial, and the second rotating axes are coaxial with the rotating axis of the multi-section arm mechanical arm and are used for driving the multi-section arm mechanical arm to move; and the second rotating axis of the driven part of at least one driving part is coaxial with the rotating axis of the driving machine body and is used for driving the driving machine body to rotate relative to the fixed seat.

In some preferred embodiments, the first rotation axis and the second rotation axis are parallel to each other, and a shortest distance therebetween is smaller than a maximum length of the driving body.

In some preferred embodiments, the first rotation axes of the driving parts of the two driving parts, which are coaxial with the second rotation axes of the driven parts, coincide or are parallel, and the first rotation axis and the second rotation axis of the other driving part are perpendicular to the first rotation axis and the second rotation axis of the other two driving parts.

In some preferred embodiments, the driving members having the second rotation axes of the two driven portions coaxial with each other respectively include a first driving synchronous pulley having a first rotation axis, a second driving synchronous pulley having a first rotation axis, a first servomotor and a second servomotor respectively connected to the first driving synchronous pulley and the second driving synchronous pulley, a first driven synchronous pulley having a second rotation axis, and a second driven pulley having a second rotation axis, and the driving members having the second rotation axes of the driven portions coaxial with the rotation axis of the driving body respectively include a third driving synchronous pulley, a third servomotor connected thereto, and a driving member having a second rotation axis; the driving part also comprises a synchronous belt which is connected with the driving part and the driven part and is used for driving the driven part by the driving part through friction force;

in some preferred embodiments, the multi-joint arm mechanical arm includes a first arm, a second arm and a claw, the first arm is rotatably connected to the driving body, and the first arm, the second arm and the claw are sequentially rotatably connected end to end.

In some preferred embodiments, the first servo motor and the second servo motor are disposed at both sides of the driving body; the third servo motor is arranged above the bottom plate of the driving machine body.

In some preferred embodiments, the first driven synchronous pulley is a part of the first arm, and is used for driving or following the first arm to synchronously rotate.

In some preferred embodiments, the multi-arm mechanical arm further includes a crank-rocker mechanism, the crank-rocker mechanism includes a crank rotatably mounted on the same rotation axis as the first arm and a rocker rotatably connected to the crank and the swing driving end of the second arm, and the second driven synchronous pulley is a part of the crank and is configured to drive or rotate synchronously with the crank.

In some preferred embodiments, the multi-section arm mechanical arm further includes a balance link mechanism, the balance link mechanism includes a first force-bearing rocker, a triangular force-bearing frame and a second force-bearing rocker, the triangular force-bearing frame is respectively rotatably connected with the first force-bearing rocker, the second force-bearing rocker and the joint of the first arm, the other end of the first force-bearing rocker is rotatably connected with the side surface of the driving machine body, and the second force-bearing rocker is hinged with the claw hand.

In some preferred embodiments, the third driven synchronous pulley is part of the fixed seat.

In some preferred embodiments, the fixing base is a round platform type cavity structure, a data line is laid inside the fixing base, an input DVI data interface is arranged on the side face of the fixing base, and the input DVI data interface is electrically connected with the driving piece through a lead.

In some preferred embodiments, the mechanical arm further comprises an external control cabinet, an output-end DVI data interface, a power interface and a switch are arranged outside the control cabinet, the output-end DVI data interface is connected with the input-end DVI data interface through a data line, the power interface is used for connecting a power line to be electrified, and the switch is used for being switched on and off instantly;

a main board and three motor drivers are arranged in the control cabinet, a CPU is used for processing, storing and operating data information, and the motor drivers are used for respectively driving the driving pieces

Compared with the prior art, the invention has the following beneficial effects:

the mechanical arm is provided with three driving pieces with different driving effects, each driving piece is provided with a first rotating axis and a second rotating axis which are parallel to each other in two degrees of freedom, namely, the high-efficiency transmission of a synchronous belt, so that the motor of the mechanical arm can drive the mechanical arm to work efficiently, with small resistance and reversibility, the mechanical arm can be used for teaching modeling according to scenes of any production line, the richness of application scenes of the mechanical arm is improved, and the problem of high cost caused by purchasing more mechanical arms is solved. All driving pieces are arranged on the driving machine body, so that the problem that the load is high due to the fact that the power sources are arranged in series of the multi-joint mechanical arms is solved, the efficiency of the workpiece when the workpiece is conveyed to another station is high, and the problem that the rotating angle of the driving pieces coaxially arranged in the joints is limited and the swinging space is limited is solved.

Drawings

FIG. 1 is a front view of a robotic arm of an embodiment of the present invention;

FIG. 2 is a perspective view of a robotic arm according to an embodiment of the present invention;

FIG. 3 is a perspective view of an alternate view of a robotic arm in accordance with an embodiment of the present invention;

FIG. 4 is an exploded view of the drive housing and mounting assembly of the robotic arm of an embodiment of the present invention;

FIG. 5 is another view of a portion of the robot arm of FIG. 4;

fig. 6 is an application scenario diagram of the self-contained system of the robot arm according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, "a plurality" represents at least 2.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The embodiment provides a synchronous belt drive's high-efficient transmission efficiency arm, but direct swift teaching modeling is applied to different production lines, can promote the production efficiency of product production line automation and mechanization, like finished product vanning, work piece station removal etc..

Referring to fig. 1-3, the mechanical arm of this embodiment includes a fixed base 4, a driving body 6 and a multi-section arm mechanical arm 5, where the lower side of the driving body 6 is rotatably connected to the fixed base 4, that is, the driving body 6 can be rotatably connected to the upper side of the fixed base 4 to adjust the horizontal angle of the multi-section arm mechanical arm 5, the multi-section arm mechanical arm 5 is rotatably connected to the upper output end of the driving body 6, the multi-section arm mechanical arm 5 can horizontally rotate on the fixed base 4 along with the driving body 6, the multi-section arm mechanical arm 5 has a first arm 51, a second arm 52 and a claw 53, the first arm 51 is rotatably connected to the driving body 6, the first arm 51, the second arm 52 and the claw 53 are respectively rotatably connected end to end in turn, and illustratively, the multi-section arm mechanical arm further includes a crank rocker mechanism 54, the crank rocker mechanism 54 has a crank rotatably mounted on the same rotation axis as the first arm 51 and rotatably connected to the swing active end of the crank 541 and the second arm 52 The rocker 542 further comprises a balance link mechanism 55, the balance link mechanism 55 has a first bearing rocker 551, a triangular bearing frame 552 and a second bearing rocker 553, the triangular bearing frame 552 is respectively connected with the first bearing rocker 551, the second bearing rocker 553 and the joint of the first arm 51 in a rotating way, the other end of the first bearing rocker 551 is connected with the side surface of the driving machine body 6 in a rotating way, the second bearing rocker 553 is connected with the claw 53 in a hinged way, the free extension of the multi-section arm mechanical arm 5 can be realized, in order to realize the driving of the mechanical arm under the conditions of high transmission efficiency, no self-locking and low arm coincidence, three driving parts are arranged on the driving machine body 6, the positions of the three driving parts are provided with reference to figures 2 and 3, for convenience of presentation and understanding, the structures of the three driving parts are merged into the same type, each driving part has a driving part and a driven part, and the driving part and the driven part both have a rotating freedom degree, and corresponding to the first rotation axis M and the second rotation axis N, respectively, the first rotation axis M and the second rotation axis N of the same driving member are parallel to each other, and the shortest distance between the two is smaller than the maximum length of the driving body 6, that is, the driven part and the driving part are in synchronous transmission connection with the same direction, and the transmission connection between the two is established on the basis of using the driving body 6 as a base, when starting up the operation command at the time of power-on, the driving part and the driven part which are relatively fixed on the driving body 6 can mutually realize synchronous rotation, thereby driving the operations of switching, bending, stretching, grabbing and carrying of various angles of the driving body 6 and the multi-section arm mechanical arm 5, specifically, in this embodiment, the second rotation axis N of the driven part of the two driving members is coaxial, and the second rotation axis N is coaxial with the rotation axis of the multi-section arm mechanical arm 5, namely, the two driving members are arranged at two sides of the driving machine body 6, the positions of the second rotation axis N of the driven part are corresponding to the second rotation axis N1 and the second rotation axis N2, meanwhile, the position of the first rotation axis M1 of the driving part is corresponding to the first rotation axis M1 and the first rotation axis M2, at this time, the second rotation axis N1 and the second rotation axis N2 are coaxial with the rotation axis of the first arm 51, and the two driving members can drive a series of bending and stretching of the multi-section mechanical arm to perform grabbing, carrying and other work; the second rotation axis N of the driven part of the other driving part is coaxial with the rotation axis of the driving machine body 6, at this time, the second rotation axis N of the driven part corresponds to the second rotation axis N3 at the installation position, and simultaneously, the first rotation axis M of the driving part corresponds to the first rotation axis M3 at the installation position, that is, the driving part at the installation position is used for driving the driving machine body 6 to rotate relative to the fixed seat 4 through the driving part and the driven part which are away from the driving part which rotate coaxially, so that the angle adjustment of the driving machine body 6 in the horizontal direction is realized. It should be noted that the position setting of the three driving members in the present embodiment is not limited to the present embodiment.

It is worth mentioning that in the present embodiment, the three driving member mounting positions correspond to real-time rotation axes corresponding to the rotational degrees of freedom of the driving member and the driven member, i.e. the driving member and the driven member are kept in synchronous transmission connection, and in particular, the second rotation axis N3 is perpendicular to both the second rotation axis N2 and the second rotation axis N1, i.e. the driving member having the second rotation axis N3 is used for driving the robot arm to move in a horizontal direction and in a direction completely perpendicular to the other two driving members; the drive member having the second rotation axis N2 and the drive member having the second rotation axis N1 are used to drive the robot arms in tandem on the coaxial drive body 6, which can reduce the self-conformance of the robot arms. In addition, the first rotation axis M1 and the first rotation axis M2 are coincident or parallel, that is, the corresponding driving parts can be arbitrarily installed on both sides of the driving body 6.

Referring to fig. 2-5, in the present embodiment, the driving portion having the real-time first rotation axis M1 has a first driving synchronous pulley 13 and a first servo motor 1, and correspondingly, the driven portion having the real-time second rotation axis N1 has a first driven synchronous pulley 11, and the first driven synchronous pulley 11 is a part of the first arm 51, that is, the first driven synchronous pulley 11 is fixedly connected to a side surface of the first arm 51, and a first synchronous belt 12 is connected between the first driven synchronous pulley 11 and the first driving synchronous pulley 13, that is, the first driving synchronous pulley 13 can be driven to rotate by the first servo motor 1, and the first driven synchronous pulley 11 can be driven to rotate by the first synchronous belt 12, so as to drive the first arm 51 to swing longitudinally; the driving part with the real-time first rotation axis M2 has a second driving synchronous pulley 22 and a second servo motor 2, correspondingly, the driven part with the real-time second rotation axis N2 has a second driven synchronous pulley 21, the second driven synchronous pulley 21 is a part of the crank 541, that is, the second driven synchronous pulley 21 is fixedly connected with the side surface of the crank 541, and a second synchronous belt 23 is connected between the second driven synchronous pulley 21 and the second driving synchronous pulley 22, that is, the second driving synchronous pulley 22 can be driven to rotate by the second servo motor 2, the second driven synchronous pulley 21 is driven to rotate by the second synchronous belt 23, so that the crank 541 rotates, the rocker 542 is further driven to swing, and finally the longitudinal driving part of the second arm 52 is driven to swing, so that the two driving parts at this position drive each joint of the multi-joint arm mechanical arm 5 to swing. The driving part with the real-time first rotation axis M3 has a third driving synchronous pulley 32 and a third servo motor 3, correspondingly, the driven part with the real-time second rotation axis N3 has a third driven synchronous pulley 31, the third driven synchronous pulley 31 is a part of the fixing base 4, and the third driving synchronous pulley 32 is connected with the third driven synchronous pulley 31 through a third synchronous belt 33, that is, the third driving synchronous pulley 32 can be driven to rotate by the third servo motor 3, and the third driven synchronous pulley 31 can be driven to rotate by the third synchronous belt 33, so that the third driving synchronous pulley 32 fixed on the driving machine body 6 in relative position surrounds the third driven synchronous pulley 31, thereby rotating the driving machine body 6 and further realizing the adjustment of the horizontal angle.

Referring to fig. 3 and 5, in this embodiment, the fixing base 4 is specifically a truncated cone-shaped cavity structure, a data line is laid inside the fixing base 4, a protruding portion 41 is arranged on a side surface of the fixing base 4, an input end DVI data interface 411 is arranged on the protruding portion 41, and the input end DVI data interface 411 is electrically connected with the driving member through a conducting wire; that is to say, the electric energy input and the instruction transmission of the first servo motor 1, the second servo motor 2 and the third servo motor 3 are all connected to the input end DVI data interface 411 through the built-in wires, and the connection can be facilitated through the input end DVI data interface 411.

Referring to fig. 6, the mechanical arm further includes an external control cabinet 9, an output DVI data interface 92, a power interface 93 and a switch 91 are arranged outside the control cabinet 9, the output DVI data interface 92 is connected with the input DVI data interface 411 through a data line, the power interface 93 is used for connecting a power line to be electrified, and the switch 91 is used for being switched on and off instantly; a main board 94 and three motor drivers 95 are arranged inside the control cabinet 9, the main board 94 is used for processing, storing and operating data information, and the motor drivers 95 are used for respectively driving the driving members.

The above is only a preferred embodiment of the present invention, and the scope of the present invention is defined by the appended claims, and several modifications and amendments made by those skilled in the art without departing from the spirit and scope of the present invention should be construed as the scope of the present invention.